Collision avoidance using cat swarm algorithm for multi mobile robot path planning in dynamic environment
Other Title(s)
تجنب التصادم باستخدام خوازمية سرب القطط من أجل تخطيط مسار للعديد من الروبوت الناقل في بيئة متحركة
Joint Authors
Jalil, Thimar Ali
Abd al-Hasan, Alya Karim
Source
Issue
Vol. 57, Issue 3C (30 Sep. 2016), pp.2348-2359, 12 p.
Publisher
University of Baghdad College of Science
Publication Date
2016-09-30
Country of Publication
Iraq
No. of Pages
12
Main Subjects
Information Technology and Computer Science
Topics
Abstract EN
In this paper, we proposed a hybrid control methodology using improved artificial potential field with modify cat swarm algorithm to path planning of decoupled multi-mobile robot in dynamic environment.
The proposed method consists of two phase: in the first phase, Artificial Potential Field method (APF) is used to generate path for each one of robots and avoided static obstacles in environment, and improved this method to solve the local minimum problem by using A* algorithm with B-Spline curve while in the second phase, modify Cat Swarm Algorithm (CSA) is used to control collision that occurs among robots or between robot with movable obstacles by using two behaviour modes: seek mode and track mode.
Experimental results show that the proposed method success to find a complete, optimal, and collision free path for all robot.-
American Psychological Association (APA)
Jalil, Thimar Ali& Abd al-Hasan, Alya Karim. 2016. Collision avoidance using cat swarm algorithm for multi mobile robot path planning in dynamic environment. Iraqi Journal of Science،Vol. 57, no. 3C, pp.2348-2359.
https://search.emarefa.net/detail/BIM-728878
Modern Language Association (MLA)
Jalil, Thimar Ali& Abd al-Hasan, Alya Karim. Collision avoidance using cat swarm algorithm for multi mobile robot path planning in dynamic environment. Iraqi Journal of Science Vol. 57, no. 3C (2016), pp.2348-2359.
https://search.emarefa.net/detail/BIM-728878
American Medical Association (AMA)
Jalil, Thimar Ali& Abd al-Hasan, Alya Karim. Collision avoidance using cat swarm algorithm for multi mobile robot path planning in dynamic environment. Iraqi Journal of Science. 2016. Vol. 57, no. 3C, pp.2348-2359.
https://search.emarefa.net/detail/BIM-728878
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 2359
Record ID
BIM-728878